WO2020062163A1

WO2020062163A1 - Method for controlling pan-tilt, and handheld pan-tilt and handheld device

Info

Publication number: WO2020062163A1
Application number: PCT/CN2018/108756
Authority: WO
Inventors: 陶冶
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-09-29
Filing date: 2018-09-29
Publication date: 2020-04-02
Also published as: CN110785726A

Abstract

A method for controlling a pan-tilt (10), and a handheld pan-tilt (100) and a handheld device (1000). The pan-tilt (10) is used to connect a load (200) and drive the load (200) to rotate. The pan-tilt (10) has at least two work areas. The control method comprises: receiving a rotation instruction, and determining a work area where the load (200) is located; and controlling the pan-tilt (10) to rotate according to the work area where the load (200) is located and the rotation instruction.

Description

Control method of PTZ, handheld PTZ, handheld device

Technical field

The present application relates to the technical field of gimbal control, and in particular, to a method for controlling a gimbal, a handheld gimbal, and a handheld device.

Background technique

As a stabilization device, the gimbal is favored by more and more photographers. The camera system equipped with a gimbal can take high-quality pictures and videos. At present, there are only two-axis control methods for the three-axis pan / tilt control method. In this way, the control method of the pan / tilt head is relatively single and cannot meet the user's more requirements.

Summary of the Invention

Embodiments of the present application provide a control method of a pan / tilt, a handheld pan / tilt, and a handheld device.

The control method of a pan / tilt according to the embodiment of the present application, wherein the pan / tilt is used to connect a load and drive the load to rotate. The pan / tilt has at least two working areas. The control method includes:

Receiving a rotation instruction and determining a work area in which the load is located;

Control the rotation of the gimbal according to the work area where the load is located and the rotation instruction.

The control method of the pan / tilt according to the embodiment of the present application can control the rotation of the pan / tilt according to the work area where the load is located. In this way, the work area of the pan / tilt can be defined, the control method of the pan / tilt can be diversified, and the combination of the pan / tilt Sports also have new uses to meet more user needs.

The handheld gimbal according to the embodiment of the present application includes a gimbal and a processor, the gimbal is used to connect a load and drive the load to rotate, the gimbal is electrically connected to the processor, and the gimbal has at least two working areas The processor is used for:

Receiving the rotation instruction, and determining a work area where the load is located;

The handheld gimbal of the embodiment of the present application can control the rotation of the gimbal according to the work area where the load is located. In this way, the work area of the gimbal can be defined, the control method of the gimbal can be diversified, and the combined movement of the gimbal can also be controlled. The new use meets more needs of users.

The handheld device according to the embodiment of the present application includes the handheld PTZ described in the foregoing embodiment.

The handheld device according to the embodiment of the present application can control the rotation of the gimbal according to the work area where the load is located. In this way, the work area of the gimbal can be defined, so that the control mode of the gimbal is diversified, and the combined movement of the gimbal is also New use to meet more needs of users.

Additional aspects and advantages of the embodiments of the present application will be partially given in the following description, and part of them will become apparent from the following description, or be learned through the practice of the embodiments of the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

FIG. 1 is a schematic flowchart of a control method for a pan / tilt according to an embodiment of the present application; FIG.

2 is a schematic perspective view of a handheld device according to an embodiment of the present application;

3 is another schematic perspective view of a handheld device according to an embodiment of the present application;

4 is a front view of a handheld device according to an embodiment of the present application;

5 is a rear view of a handheld device according to an embodiment of the present application;

6 is another rear view of the handheld device according to the embodiment of the present application;

7 is a schematic diagram of a work area of a pan / tilt according to an embodiment of the present application;

8 is another schematic flowchart of a control method for a pan / tilt according to an embodiment of the present application;

9 is another schematic flowchart of a control method for a pan / tilt according to an embodiment of the present application;

FIG. 10 is another schematic flowchart of a control method for a pan / tilt according to an embodiment of the present application; FIG.

FIG. 11 is a schematic diagram of a plurality of virtual buttons of a pan / tilt according to an embodiment of the present application; FIG.

FIG. 12 is a schematic diagram of a flip button of a gimbal according to an embodiment of the present application; FIG.

13 is a schematic diagram of a center return button of a pan / tilt according to an embodiment of the present application;

14 is a schematic diagram of a pitch / yaw button of a gimbal according to an embodiment of the present application;

FIG. 15 is a schematic diagram of a pan button of a pan / tilt according to an embodiment of the present application.

Explanation of main component symbols:

Hand-held gimbal 100, gimbal 10, first axis assembly 12, second axis assembly 14, third axis assembly 16, handheld 20, control panel 30, physical buttons 31, touch screen 32, sliding area 33, joint assembly 40, The connector 42, the processor 50, the handheld device 1000, the photographing device 200, the load connector 300, the flip button 102, the center button 104, the pitch / yaw button 106, the roll button 108, the terminal 202, and the display 204.

detailed description

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application, and should not be construed as limiting the present application.

In the description of this application, it should be understood that the terms “first” and “second” are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the present application, "multiple" means two or more, unless it is specifically and specifically defined otherwise.

In the description of this application, it should be noted that the terms "installation", "connected", and "connected" should be understood in a broad sense unless explicitly stated and limited otherwise. For example, they may be fixed connections or removable. Connection, or integral connection; can be mechanical, electrical, or can communicate with each other; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements relationship. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

The following disclosure provides many different implementations or examples for implementing different structures of the present application. To simplify the disclosure of this application, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the application. In addition, the present application may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, examples of various specific processes and materials are provided in this application, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.

Please refer to FIGS. 1 to 6. The control method of the pan / tilt head 10 according to the embodiment of the present application may be implemented by the handheld pan / tilt 100 according to the embodiment of the present application and applied to the handheld device 1000 according to the embodiment of the present application. The gimbal 10 is used to connect a load and drive the load to rotate. The gimbal 10 has at least two work areas. Control methods include:

Step S10: Receive a rotation instruction and determine a work area where the load is located;

Step S20: Control the PTZ 10 to rotate according to the work area where the load is located and the rotation instruction.

The control method of the pan / tilt head 10 according to the embodiment of the present application can control the rotation of the pan / tilt head 10 according to the work area where the load is located. In this way, the work area of the pan / tilt head 10 can be defined, so that the control mode of the pan / tilt head 10 is diversified The combined movement of the PTZ 10 has also been newly used to meet more user needs.

It can be understood that when the load is installed on the gimbal 10, when the load is working, the gimbal 10 can provide stability and change the orientation of the load so that it can work in a better state. In this application, the work area of the PTZ 10 is defined, and then the PTZ 10 can be controlled to rotate according to the work area and the rotation instruction where the load is located to drive the load to rotate. The control mode of the PTZ 10 is more diverse and easy to operate, which improves the user's experience in controlling the PTZ 10. The load may be a photographing device 200, a sensor, a shooting device, and the like. In the examples of FIGS. 2 to 6, the load is the photographing device 200.

In some embodiments, the at least two work areas include a forward area and a selfie area of the gimbal 10.

It can be understood that, in conjunction with FIG. 3, FIG. 4, FIG. 6, and FIG. 7, the work area of the PTZ 10 includes a forward area and a selfie area of the PTZ 10. In one embodiment of the present application, the pan / tilt head 10 is mounted on the handheld portion 20, and the handheld portion 20 is provided with a control panel 30. When the load is located at the middle position 11 of the selfie zone, the load is aligned with the control panel 30 as shown in FIG. 4. When the load is located at the middle position 13 of the forward zone, the load is opposite to the control panel 30 as shown in FIG. 7. The middle position of the load in the forward zone is opposite to the middle position of the load in the selfie zone. The yaw axis Z around the gimbal is separated by 180 degrees between the middle position of the selfie zone and the middle position of the forward zone. In this embodiment, the load is the photographing device 200, and the direction of the load may refer to a direction indicated by the optical axis of the photographing device 200 in front of the photographing device 200. When the load is at the middle position of the work area, it can be understood that the angular deviation between the optical axis of the photographing device 200 and the middle position of the work area is within a preset range. Preferably, the optical axis of the photographing device 200 coincides with the middle position of the work area.

In the illustrated embodiment, the intersection of the boundary line 15 between the forward zone and the selfie zone and the middle position of the forward zone and the middle location of the selfie zone lies on the yaw axis Z. In addition, the hand-held portion has a long shape, and the yaw axis Z of the gimbal coincides with the length extension direction of the hand-held portion 20.

Of course, the number of work areas of the pan / tilt head 10 can be set according to actual requirements, for example, it can be set to four work areas of front, back, left, and right.

In some embodiments, the head 10 includes a plurality of shaft assemblies. When the load is in the intermediate position, the axes of the multiple shaft assemblies are perpendicular to each other.

In the embodiment of the present application, the head 10 is a three-axis head. In FIG. 3 and FIG. 7, the load is located at the middle position of the selfie zone, and the axis Z of the first shaft assembly 12, the axis Y of the second shaft assembly 14, and the axis X of the third shaft assembly 16 are perpendicular to each other. One of the axes of the gimbal 10 (that is, the axis Z of the first component) coincides with the extending direction of the handheld portion 20. If the head 10 is a two-axis head, the axes of the two shaft components are perpendicular to each other when the load is located at the middle position of the selfie zone or the load is located at the middle position of the forward zone. The axis of the shaft assembly refers to an axis around which the gimbal 10 drives the load to rotate.

In this embodiment, the first shaft assembly 12 is a yaw shaft (YAW) assembly, and the first shaft assembly 12 is connected to a load. The rotation instruction includes a yaw instruction. The control method includes: controlling the first shaft assembly 12 to drive the load to rotate in the forward zone or the self-timer zone according to the yaw instruction.

It can be understood that when a yaw instruction is received, the yaw axis assembly of the gimbal 10 drives the load to rotate around the yaw axis Z in the forward zone or the selfie zone. It should be noted that, in other embodiments, the gimbal 10 may be a single-axis gimbal including a first-axis component. At this time, the first-axis component 12 is directly connected to the load.

In this embodiment, the second shaft assembly 14 is a roll axis (ROLL) assembly, and the second shaft assembly 14 connects the first shaft assembly 12 and a load. The rotation instruction includes a roll instruction. The control method includes: controlling the second shaft assembly 14 to drive the load to rotate in the forward zone or the self-timer zone according to the roll instruction.

It can be understood that when the roll instruction is received, the roll axis assembly of the head 10 drives the load to rotate around the roll axis Y in the forward zone or the self-timer zone. When the load is in the middle position of the work area, it can be considered that the roll shaft assembly 14 is arranged to keep the load substantially horizontal, as shown in FIGS. 4 to 6.

It should be noted that, in other embodiments, the gimbal 10 may be a two-axis gimbal including a first shaft assembly 12 and a second shaft assembly 14. At this time, the second shaft assembly 14 is directly connected to the first shaft assembly 12 and the load. . The load is located in the middle of the selfie zone, and the axis Z of the first shaft assembly 12 and the axis Y of the second shaft assembly 14 are perpendicular to each other.

In this embodiment, the third axis assembly 16 is a pitch axis (PITCH) assembly. The third axis assembly 16 is connected to the load and the first axis assembly 12. Specifically, one side of the third axis assembly 16 is directly connected to the load. The other side of the shaft assembly 16 is connected to the first shaft assembly 12 through a second shaft assembly 14. The rotation command includes a pitch command. The control method includes: controlling the third axis assembly 16 to drive the load to rotate in a forward zone or a self-timer zone according to a pitch instruction.

It can be understood that when receiving the pitching instruction, the tilting axis component of the gimbal 10 drives the load to rotate around the pitching axis X in the forward zone or the self-timer zone. When the load is in the middle position of the work area, it can be considered that the orientation of the tilt axis assembly 16 to maintain the load is substantially perpendicular to the plane defined by the pitch axis X and the yaw axis Z, as shown in FIGS. 4 to 6.

It should be noted that, in other embodiments, the gimbal 10 may be a two-axis gimbal including a first shaft assembly 12 and a third shaft assembly 16. At this time, the third shaft assembly 16 is directly connected to the first shaft assembly 12 and the load. . The load is located in the middle of the selfie zone, and the axis Z of the first shaft assembly 12 and the axis X of the third shaft assembly 16 are perpendicular to each other.

It can be understood that the quantity and type of the axis components of other unexplained gimbals can be implemented with reference to the above description, and will not be expanded in detail here. The protection scope of the present application includes other embodiments that are changed or modified according to the above description.

In step S10, the working area where the load is located may be determined by the current attitude of the pan / tilt head 10. The current attitude of the gimbal 10 can be obtained by measuring an Inertial Measurement Unit (IMU) installed in the gimbal 10. The inertial measurement unit can measure the angular velocity and acceleration of the gimbal 10 in the three-dimensional space, and then use the attitude solution algorithm (such as the Kalman filter algorithm) to solve the current attitude of the gimbal 10. The rotation instruction includes target attitude information of the head 10. In step S20, after receiving the rotation instruction and determining the current attitude of the PTZ 10 (that is, determining the working area where the load is located), calculate the difference between the target attitude of the PTZ 10 and the current attitude to determine what the PTZ 10 is to rotate. Angle, and then control the PTZ 10 to rotate to drive the load to a preset position in the work area, such as the middle position.

Referring to FIG. 8, in some embodiments, the rotation instruction includes a flip instruction. The control method includes step S12: obtaining a work area where the load is currently located; and step S22: controlling the load to be turned to a preset position of a work area opposite to the current work area according to the turning instruction. It can be understood that step S12 can be implemented during step S10. Step S22 may be implemented during step S20.

Specifically, referring to FIG. 9, at least two working areas include a forward area and a selfie area of the gimbal 10. The control method includes step S122: determining whether the load is in the forward zone or the selfie zone; step S222: if the load is in the forward zone, controlling the PTZ 10 to drive the load to rotate from the forward zone to a preset position in the selfie zone; and step S224: if The load is in the self-timer zone, and the PTZ 10 is controlled to drive the load to rotate from the self-timer zone to a preset position in the forward zone.

It can be understood that step S122 can be implemented during step S12, and steps S222 and S224 can be implemented during step S22.

In addition, two opposite working areas mean that the load is facing in the opposite direction in the middle of the two working areas. For example, when the work area where the load is currently located is the forward area, the work area opposite to the current work area is the selfie area; when the work area where the load is currently located is the self-timer area, it is the same as the current work area. The opposite work area is the forward area. Further, the preset position of the selfie zone may be a middle position of the selfie zone. The preset position of the forward zone may also be the middle position of the forward zone. In other embodiments, the preset position may be adjusted according to the situation, which is not specifically limited herein.

In this embodiment, the head 10 is a three-axis head. The head 10 includes a first axis assembly 12 (yaw axis assembly), a second axis assembly 14 (roll axis assembly), and a third axis assembly 16 (pitch). Shaft assembly). When receiving the flip instruction, control the first shaft assembly 12, the second shaft assembly 14, and the third shaft assembly 16 to rotate to drive the load from the forward zone to the middle position of the selfie zone or from the selfie zone to the middle of the forward zone Position, or control the rotation of the first shaft assembly 12 and the second shaft assembly 14 to drive the load from the forward zone to the middle position of the selfie zone or from the selfie zone to the middle position of the forward zone, or control the first shaft assembly 12 And the third shaft assembly 16 rotate to drive the load from the forward zone to the middle position of the selfie zone or from the selfie zone to the forward position of the selfie zone, or control the first shaft assembly 12 to rotate to drive the load to rotate from the forward zone To the middle of the selfie zone or from the selfie zone to the middle of the forward zone.

In other embodiments, the head 10 is a single-axis head including a first axis assembly 12 (yaw axis assembly). When receiving the flip instruction, the first shaft assembly 12 is controlled to rotate to drive the load to rotate from the forward zone to the middle position of the selfie zone or from the selfie zone to the middle position of the forward zone.

In other embodiments, the gimbal 10 is a two-axis gimbal including a first axis assembly 12 (yaw axis assembly) and a second axis assembly 14 (rolling axis assembly). When receiving the flip instruction, control the first shaft assembly 12 and the second shaft assembly 14 to rotate to drive the load from the forward zone to the middle position of the selfie zone or from the selfie zone to the middle position of the forward zone, or control the first The shaft assembly 12 rotates to drive the load from the forward zone to the middle position of the self-timer zone or from the selfie zone to the middle position of the forward zone.

In other embodiments, the gimbal 10 is a two-axis gimbal including a first axis assembly 12 (yaw axis assembly) and a third axis assembly 16 (elevation axis assembly). When receiving the flip instruction, control the first shaft assembly 12 and the third shaft assembly 16 to rotate to drive the load from the forward zone to the middle position of the selfie zone, or from the selfie zone to the middle position of the forward zone, or control the first The shaft assembly 12 rotates to drive the load from the forward zone to the middle position of the self-timer zone or from the selfie zone to the middle position of the forward zone.

Referring to FIG. 10, in some embodiments, the rotation instruction includes a return instruction. The control method includes step S12: obtaining the work area where the load is currently located; step S14: judging whether the load is in the middle position of the current work area; step S24: if yes, maintaining the position of the gimbal 10; and step S26: if not According to the return-to-center instruction, the PTZ 10 is controlled to drive the load to rotate to the middle position of the current working area.

It can be understood that step S12 and step S14 can be implemented during step S10. Steps S24 and S26 may be implemented during step S20.

Specifically, at least two work areas include the forward area and the selfie area of the gimbal 10, and step S26 includes: if the load is not in the middle of the forward area or the selfie area, according to the return instruction, the load is in the forward area At this time, the PTZ 10 is controlled to drive the load to rotate to the middle position in the forward zone. When the load is in the self-timer zone, the PTZ 10 is controlled to drive the load to rotate to the middle position in the self-timer zone.

More specifically, if the load is not in the middle position of the forward zone, according to the return instruction, when the load is in the forward zone, control the PTZ 10 to drive the load to rotate to the middle position of the forward zone; if the load is not in the self-timer zone According to the middle return instruction, when the load is in the self-timer zone, the PTZ 10 is controlled to drive the load to rotate to the middle position of the self-timer zone.

In this embodiment, the head 10 is a three-axis head. The gimbal 10 includes a first axis assembly 12 (yaw axis assembly), a second axis assembly 14 (roll axis assembly), and a third axis assembly 16 (elevation axis assembly). When a return-to-center instruction is received and the load is in a non-intermediate position in the forward zone, at least one of the first shaft assembly 12, the second shaft assembly 14, and the third shaft assembly 16 is controlled to rotate to drive the load to the forward zone. in the middle. When a center return instruction is received and the load is in a non-middle position of the selfie zone, at least one of the first shaft assembly 12, the second shaft assembly 14, and the third shaft assembly 16 is controlled to rotate to drive the load to a middle position in the selfie zone .

In other embodiments, the head 10 is a single-axis head including a first axis assembly 12 (yaw axis assembly). When the center return instruction is received and the load is in a non-intermediate position in the forward zone, the first shaft assembly 12 is controlled to rotate to drive the load to rotate to the intermediate position in the forward zone. When the center-return instruction is received and the load is at a non-intermediate position in the self-timer zone, the first shaft assembly 12 is controlled to rotate to drive the load to rotate to the middle position in the self-timer zone.

In other embodiments, the gimbal 10 is a two-axis gimbal including a first axis assembly 12 (yaw axis assembly) and a second axis assembly 14 (rolling axis assembly). When the return-to-center instruction is received and the load is in a non-intermediate position in the forward zone, at least one of the first shaft assembly 12 and the second shaft assembly 14 is controlled to rotate to drive the load to rotate to the intermediate position in the forward zone. When a return-to-center instruction is received and the load is at a non-intermediate position in the selfie zone, at least one of the first shaft assembly 12 and the second shaft assembly 14 is controlled to rotate to drive the load to rotate to the intermediate position in the selfie zone.

In other embodiments, the gimbal 10 is a two-axis gimbal including a first axis assembly 12 (yaw axis assembly) and a third axis assembly 16 (elevation axis assembly). When a return-to-center instruction is received and the load is in a non-intermediate position in the forward zone, at least one of the first shaft assembly 12 and the third shaft assembly 16 is controlled to rotate to drive the load to rotate to the intermediate position in the forward zone. When a return-to-center instruction is received and the load is at a non-intermediate position in the selfie zone, at least one of the first shaft assembly 12 and the third shaft assembly 16 is controlled to rotate to drive the load to rotate to the intermediate position in the selfie zone.

In some embodiments, the pan / tilt head 10 is mounted on and electrically connected to the handheld portion 20. The hand-held unit 20 is provided with a touch screen 32 for generating a rotation instruction.

It can be understood that the handheld portion 20 of the handheld PTZ 100 is provided with a control panel 30, and the control panel 30 includes a touch screen 32. The touch screen 32 may be a touch display screen. Referring to FIG. 11 to FIG. 15, the touch screen 32 is provided with a plurality of virtual keys, and the user can generate different rotation instructions by touching different virtual keys. The user can touch the flip button 102 to generate a flip instruction. The user can touch the center return button 104 to generate a center return instruction. The user can touch the pitch / yaw button 106 (Tilt Pan control) to generate a pitch command or a yaw command. Among them, the pitch / yaw button 106 includes four sub-buttons of up, down, left and right. The upper and lower sub-buttons are used for pitch control (Tilt control), and the left and right sub-buttons are used for yaw control (Pan control). The user may touch the scroll button 108 to generate a scroll instruction. In this way, different rotation instructions of the PTZ 10 are generated through multiple different virtual keys, which is convenient to operate and improves the interactive experience of controlling the PTZ 10. In addition, the touch screen 32 also displays a frame captured by the shooting device, and a plurality of virtual keys are located on the frame.

In addition, the control panel 30 may further include one or more physical buttons 31.

In some embodiments, a sliding area 33 is provided on a side of the touch screen 32. When the rotation instruction includes a pitch instruction, the control method includes: based on the sliding operation in the sliding area 33, the touch screen 32 generates a pitch instruction.

It can be understood that the side of the touch screen 32 is provided with a sliding area 33, and the sliding area 33 is provided with a virtual sliding button. The user can generate a pitch command by sliding a virtual slide button. For example, when the user slides the virtual slide button upwards, the generated pitch command is to control the PTZ 10 to rotate upwards, and when the user slides the virtual button down, the generated pitch instruction is to control the PTZ 10 to rotate downwards. The sliding area 33 may be disposed on the left side or the right side of the touch screen 32. In the example of FIG. 4, the sliding area 33 may be disposed on the right side of the touch screen 32.

In some embodiments, the handheld unit 20 is configured to communicate with the terminal 202, and receiving a rotation instruction includes receiving a rotation instruction sent from the terminal 202.

It can be understood that the handheld portion 20 is electrically connected to the PTZ 10, and the handheld portion 20 can communicate with the terminal to receive the rotation instruction sent by the terminal, and then control the PTZ 10 to drive the load to rotate according to the rotation instruction. The PTZ 10 is configured with a corresponding PTZ control application software (APP). The PTZ control APP can be installed on the terminal 202 so that a user can send a rotation instruction through the PTZ control APP of the terminal 202. Please refer to FIGS. 11 to 15, the man-machine interface of the PTZ control APP is provided with a plurality of virtual keys, and the user can generate different rotation instructions by touching different virtual keys. The user can touch the flip button 102 to generate a flip instruction. The user can touch the center return button 104 to generate a center return instruction. The user can touch the pitch / yaw button 106 (Tilt Pan control) to generate a pitch command or a yaw command. The pitch / yaw button 106 includes four sub-buttons of up, down, left, and right. The upper and lower sub-buttons are used for pitch control (Tilt control), and the left and right sub-buttons are used for yaw control (Pan control). The user may touch the scroll button 108 to generate a scroll instruction. In this way, different rotation instructions of the PTZ 10 are generated through multiple different virtual keys, which is convenient to operate and improves the interactive experience of controlling the PTZ 10. The man-machine interface of the PTZ control APP can be displayed on the display screen 204 of the terminal 202, and the display screen 204 can also display the frames collected by the shooting device 200. The display screen 204 may be a touch display screen.

It should be noted that the terminal 202 includes, but is not limited to, a mobile phone, a tablet computer, a wearable smart device (such as a bracelet, a helmet, etc.), a personal computer, a notebook computer, and the like.

Please refer to FIG. 4. In some embodiments, the hand-held part 20 is provided with a joint assembly 40. The joint assembly 40 is used for the terminal 202 to connect to the hand-held part 20. In this way, the terminal 202 and the handheld unit 20 can be installed together, which is convenient for using the terminal 202 to control the PTZ 10.

It can be understood that the terminal 202 also communicates with the handheld unit 20 through the connector assembly 40, or the terminal 202 communicates with the handheld unit 20 through wireless methods (such as WiFi, Bluetooth, Zigbee, NB-Iot, etc.).

Specifically, the joint assembly 40 includes a retractable joint 42. In the handheld pan / tilt head 100 shown in FIGS. 2 to 6, when the handheld pan / tilt 100 is to be connected to the terminal 202, the joint 42 can be slid from the holding part 20 of the joint assembly 40. Come out for easy connection to the terminal.

In some embodiments, the joint assembly 40 is detachably connected to the handheld portion 20.

It can be understood that the interfaces configured by different terminals 202 may be different. Therefore, for the convenience of the user, the handheld gimbal 100 is configured with a connector assembly 40 suitable for different terminal interfaces. The joint assembly 40 is detachably connected to the hand-held part 20, which facilitates replacement of different joint assemblies 40 so that the hand-held part 20 can be connected to different terminals 202.

Please refer to FIGS. 2 to 6. The handheld PTZ 100 according to the embodiment of the present application includes a PTZ 10 and a processor 50. The gimbal 10 is used to connect a load and drive the load to rotate. The gimbal 10 is electrically connected to the processor 50. The gimbal 10 has at least two work areas. The processor 50 is configured to receive a rotation instruction and determine a working area where the load is located; and control the PTZ 10 to rotate according to the working area where the load is located and the rotation instruction.

That is to say, steps S10 and S20 of the control method of the pan / tilt 10 according to the embodiment of the present application may be implemented by the processor 50. The processor 50 may be provided in the handheld portion 20 of the handheld gimbal 100.

The handheld pan / tilt head 100 according to the embodiment of the present application can control the rotation of the pan / tilt head 10 according to the work area where the load is located. In this way, the work area of the pan / tilt head 10 can be defined, so that the control method of the pan / tilt head 10 is diversified 10 combined sports have also been newly used to meet more needs of users.

It should be noted that the above-mentioned explanation of the implementation method and beneficial effects of the control method of the pan / tilt head 10 is also applicable to the handheld pan / tilt head 100 of this embodiment. To avoid redundancy, it is not described in detail here.

In some embodiments, the rotation instruction includes a flip instruction. The processor 50 is configured to: obtain the work area where the load is currently located; and control the load to be turned to a preset position of the work area opposite to the current work area according to the turning instruction.

That is, step S12 and step S22 of the control method of the pan / tilt 10 according to the embodiment of the present application may be implemented by the processor 50.

In some embodiments, the at least two work areas include a forward area and a selfie area of the gimbal 10. The processor 50 is configured to determine whether the load is in the forward zone or the selfie zone; if the load is in the forward zone, control the PTZ 10 to drive the load to rotate from the forward zone to a preset position in the selfie zone; if the load is in the selfie zone, control the cloud The stage 10 drives the load to rotate from the selfie zone to a preset position in the forward zone.

That is, steps S122, 222, and S224 of the control method of the pan / tilt 10 according to the embodiment of the present application may be implemented by the processor 50.

In some embodiments, the preset position of the selfie region is a middle position of the selfie region, and / or the preset position of the forward region is a middle position of the forward region.

In some embodiments, the rotation instruction includes a return-to-center instruction, and the processor 50 is configured to: obtain a working area where the load is currently located; determine whether the load is in the middle position of the current working area; and if so, keep the Position; if not, according to the return-to-center instruction, control the PTZ 10 to drive the load to rotate to the middle position of the work area where it is currently located.

That is, steps S12, 14, S24, and 26 of the control method of the pan / tilt 10 according to the embodiment of the present application may be implemented by the processor 50.

In some embodiments, the at least two work areas include a forward area and a selfie area of the gimbal 10. The processor 50 is configured to: if the load is not in the middle position of the forward zone or the selfie zone, according to the return instruction, when the load is in the forward zone, control the PTZ 10 to drive the load to rotate to the middle position of the forward zone. When the load is in the self-timer zone, the PTZ 10 is controlled to drive the load to rotate to the middle position of the self-timer zone.

In some embodiments, the handheld PTZ 100 includes a handheld portion 20. The PTZ 10 is mounted on the handheld portion 20 and is electrically connected to the handheld portion 20. When the load is in the middle position, one of the axes of the gimbal 10 coincides with the extending direction of the handheld portion 20.

In some embodiments, the handheld PTZ 100 includes a handheld portion 20. The PTZ 10 is mounted on the handheld portion 20 and is electrically connected to the handheld portion 20. The handheld portion 20 is provided with a control panel 30. When the load is located at the middle position of the self-timer zone, the load is aligned with the control panel 30.

In some embodiments, the middle position of the selfie zone and the middle position of the forward zone are spaced 180 degrees around the yaw axis of the gimbal 10.

In some embodiments, the head 10 includes a first shaft assembly 12 connected to a load. The rotation instruction includes a yaw instruction. The processor 50 is configured to control the first shaft assembly 12 to drive the load to rotate in the forward zone or the self-timer zone according to the yaw instruction.

In some embodiments, the head 10 includes a second shaft assembly 14 that connects the first shaft assembly 12 and a load. The rotation instruction includes a roll instruction. The processor 50 is configured to control the second shaft assembly 14 to drive the load to rotate in the forward zone or the self-timer zone according to the roll instruction.

In some embodiments, the gimbal 10 includes a third shaft assembly 16, and the third shaft assembly 16 is connected to the load and the first shaft assembly 12. The rotation command includes a pitch command. The processor 50 is configured to control the third axis assembly 16 to drive the load to rotate in the forward zone or the self-timer zone according to the pitch instruction.

In some embodiments, the handheld PTZ 100 includes a handheld portion 20. The PTZ 10 is mounted on the handheld portion 20 and is electrically connected to the handheld portion 20. The hand-held unit 20 is provided with a touch screen 32 for generating a rotation instruction.

In some embodiments, a sliding area 33 is provided on a side of the touch screen 32. When the rotation instruction includes a pitch instruction, the touch screen 32 is configured to generate a pitch instruction based on a sliding operation in the sliding area 33.

In some embodiments, the handheld portion 20 is used to communicate with the terminal 202. The processor 50 is configured to receive a rotation instruction sent from the terminal 202.

In some embodiments, the hand-held part 20 is provided with a joint assembly 40. The joint assembly 40 is used for the terminal 202 to connect to the hand-held part 20.

Please refer to FIGS. 2 to 6. The handheld device 1000 according to the embodiment of the present application includes the handheld PTZ 100 according to any one of the foregoing embodiments.

The handheld device 1000 according to the embodiment of the present application can control the rotation of the PTZ 10 according to the work area where the load is located, so that the work area of the PTZ 10 can be defined, so that the control mode of the PTZ 10 is diversified, and the PTZ 10 The new combination of sports has also been used to meet more needs of users. For example, four working areas can be set according to shooting needs or user habits. There are four areas: the selfie area, the left shooting area, the forward area, and the right shooting area. The four areas will be the yaw axis's circumferential direction. Divide into four equal parts. Correspondingly, when receiving the return instruction, the load will rotate to the middle position of the current work area; when receiving the reversing instruction, if the load is in the self-timer area or forward area, it will rotate to the forward position or self-timer. If the load is in the left shooting area or right shooting area, it will be rotated to the middle position of the right shooting area or the left shooting area. It can be understood that the number of working areas can also be three, five, and other numbers.

It should be noted that the above-mentioned explanation of the control method of the PTZ 10 and the implementation and beneficial effects of the handheld PTZ 100 are also applicable to the handheld device 1000 of this embodiment. To avoid redundancy, it will not be described in detail here. .

In some embodiments, the handheld device 1000 includes a photographing device 200, and the photographing device 200 is mounted on the gimbal 10.

It can be understood that the photographing device 200 may be a camera, a video camera, or a mobile terminal (smartphone, tablet, etc.) having a photographing function. In the examples of FIGS. 2 to 5, the photographing device 200 is a camera.

In some embodiments, the handheld device 1000 includes a load connector 300, the load connector 300 is mounted on the gimbal 10, and the load connector 300 is used to install the photographing device 200.

It can be understood that the load connection 300 may include, but is not limited to, a clamping connection or a magnetic connection. The clamping connector can clamp and fix the photographing device 200 on the gimbal 10. The magnetic connecting member may be provided with a magnet, a ferromagnetic material is provided on the photographing device 200 or the photographing device 200 itself is provided with a ferromagnetic material, so that the photographing device 200 is magnetically adsorbed on the magnetic connecting member. In this way, the photographing device 200 is easy to install and disassemble, which can be convenient for users.

In the description of this specification, the description with reference to the terms “one embodiment”, “some embodiments”, “exemplary embodiments”, “examples”, “specific examples”, or “some examples”, etc., means in combination with the Specific features, structures, materials, or characteristics described in the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same implementation or example. Moreover, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more implementations or examples.

Any process or method description in a flowchart or otherwise described herein can be understood as representing a module, fragment, or portion of code that includes one or more executable instructions for performing a particular logical function or step of a process And, the scope of the preferred embodiments of the present application includes additional implementations, which may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present application pertain.

Logic and / or steps represented in a flowchart or otherwise described herein, for example, a ordered list of executable instructions that may be considered to perform a logical function, may be embodied in any computer-readable medium, For use by, or in combination with, an instruction execution system, device, or device (such as a computer-based system, a system that includes a processor, or another system that can fetch and execute instructions from an instruction execution system, device, or device) Or equipment. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: electrical connections (electronic devices) with one or more wirings, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable Processing to obtain the program electronically and then store it in computer memory.

It should be understood that each part of the present application may be executed by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if executed by hardware, as in another embodiment, it may be executed by any one or a combination of the following techniques known in the art: a logic gate circuit having a logic function for performing a logic function on a data signal Discrete logic circuits, application-specific integrated circuits with suitable combinational logic gate circuits, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

A person of ordinary skill in the art can understand that performing all or part of the steps carried by the foregoing implementation method can be completed by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and the program is executing , Including one or a combination of steps of a method embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist separately physically, or two or more units may be integrated in one module. The above integrated modules can be executed in the form of hardware or software functional modules. When the integrated module is executed in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

The aforementioned storage medium may be a read-only memory, a magnetic disk, or an optical disk. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application. Those skilled in the art can interpret the above within the scope of the present application. Embodiments are subject to change, modification, replacement, and modification.

Claims

A control method for a PTZ, characterized in that the PTZ is used to connect a load and drive the load to rotate. The PTZ has at least two working areas. The control method includes:

Receiving a rotation instruction and determining a work area in which the load is located;

Control the rotation of the gimbal according to the work area where the load is located and the rotation instruction.
The control method according to claim 1, wherein the rotation instruction comprises a flip instruction, and the control method comprises:

Obtaining a working area where the load is currently located;

According to the turning instruction, the load is controlled to be turned to a preset position of a working area opposite to a working area where the load is currently located.
The control method according to claim 2, wherein the at least two working areas include a forward area and a self-timer area of the gimbal, and the control method comprises:

Determining whether the load is in the forward zone or the selfie zone;

If the load is in the forward zone, controlling the gimbal to drive the load to rotate from the forward zone to a preset position in the selfie zone;

If the load is in the self-timer zone, controlling the gimbal to drive the load to rotate from the self-timer zone to a preset position in the forward zone.
The control method according to claim 3, wherein the preset position of the selfie region is a middle position of the selfie region, and / or the preset position of the forward region is the forward region Middle position.
The control method according to claim 1, wherein the rotation instruction comprises a return instruction, and the control method comprises:

Obtaining a working area where the load is currently located;

Judging whether the load is in a middle position of the working area where the load is currently located;

If yes, maintaining the position of the pan / tilt head;

If not, according to the return-to-center instruction, control the gimbal to drive the load to rotate to the middle position of the working area in which it is currently located.
The control method according to claim 5, wherein the at least two working areas include a forward area and a selfie area of the gimbal, and the control method comprises:

If the load is not in the middle of the forward zone or the self-timer zone, according to the return instruction, when the load is in the forward zone, control the gimbal to drive the load to rotate To the middle position of the forward zone, and when the load is in the self-timer zone, controlling the head to drive the load to rotate to the middle position of the self-timer zone.
The control method according to claim 4 or 5, wherein the head comprises a plurality of shaft components, and the axes of the plurality of shaft components are perpendicular to each other when the load is located in the intermediate position.
The control method according to claim 7, wherein the gimbal is mounted on a hand-held part and is electrically connected to the hand-held part, and when the load is at the intermediate position, one of the axes of the gimbal and The extending directions of the handheld parts are coincident.
The control method according to claim 4 or 6, wherein the pan / tilt is installed in a hand-held part and is electrically connected to the hand-held part, and the hand-held part is provided with a control panel, and when the load is located in the selfie zone In the middle position, the load is aligned with the direction of the control panel.
The control method according to claim 9, wherein a middle position of the self-timer zone and a middle position of the forward zone are spaced 180 degrees around a yaw axis of the gimbal.
The control method according to claim 3 or 6, wherein the pan / tilt head includes a first shaft component, the first shaft component is connected to the load, the rotation instruction includes a yaw instruction, and the control method include:

According to the yaw instruction, controlling the first shaft component to drive the load to rotate in the forward zone or the selfie zone.
The control method according to claim 11, wherein the pan / tilt head includes a second shaft component, the second shaft component connects the first shaft component and the load, and the rotation instruction includes a roll instruction The control method includes:

According to the roll instruction, controlling the second shaft component to drive the load to rotate in the forward zone or the self-timer zone.
The control method according to claim 11 or 12, wherein the pan / tilt head includes a third axis component, the third axis component connects the load and the first axis component, and the rotation instruction includes pitching Instructions, the control method includes:

According to the pitch instruction, controlling the third axis component to drive the load to rotate in the forward zone or the self-timer zone.
The control method according to claim 1, wherein the pan / tilt is mounted on a hand-held part and is electrically connected to the hand-held part, and the hand-held part is provided with a touch screen for generating the rotation instruction.
The control method according to claim 14, wherein a sliding area is provided on a side of the touch screen, and when the rotation instruction includes a pitch instruction, the control method comprises: based on a sliding operation in the sliding area, The touch screen generates the pitch instruction.
The control method according to claim 14, wherein the handheld unit is configured to communicate with a terminal, and receiving a rotation instruction comprises: receiving the rotation instruction sent from the terminal.
The control method according to claim 16, wherein the hand-held portion is provided with a joint component, and the joint component is used for the terminal to connect to the hand-held portion.
The control method according to claim 17, wherein the joint assembly is detachably connected to the hand-held portion.
A handheld gimbal, comprising a gimbal and a processor, the gimbal is used to connect a load and drive the load to rotate, the gimbal is electrically connected to the processor, and the gimbal has at least two A work area, the processor is configured to:

Receiving the rotation instruction, and determining a work area where the load is located;

Control the rotation of the gimbal according to the work area where the load is located and the rotation instruction.
The handheld gimbal of claim 19, wherein the rotation instruction comprises a flip instruction, and the processor is configured to:

Obtaining a working area where the load is currently located;

According to the turning instruction, the load is controlled to be turned to a preset position of a working area opposite to a working area where the load is currently located.
The handheld gimbal of claim 20, wherein the at least two work areas include a forward area and a selfie area of the gimbal, and the processor is configured to:

Determining whether the load is in the forward zone or the selfie zone;

If the load is in the forward zone, controlling the gimbal to drive the load to rotate from the forward zone to a preset position in the selfie zone;

If the load is in the self-timer zone, controlling the gimbal to drive the load to rotate from the self-timer zone to a preset position in the forward zone.
The handheld pan / tilt head according to claim 21, wherein the preset position of the selfie zone is a middle position of the selfie zone, and / or the preset position of the forward zone is the forward The middle position of the zone.
The handheld gimbal according to claim 19, wherein the rotation instruction comprises a return-to-center instruction, and the processor is configured to:

Obtaining a working area where the load is currently located;

Judging whether the load is in a middle position of the working area where the load is currently located;

If yes, maintaining the position of the pan / tilt head;

If not, according to the return-to-center instruction, control the gimbal to drive the load to rotate to the middle position of the working area in which it is currently located.
The handheld gimbal of claim 23, wherein the at least two working areas include a forward area and a selfie area of the gimbal, and the processor is configured to:

If the load is not in the middle of the forward zone or the self-timer zone, according to the return instruction, when the load is in the forward zone, control the gimbal to drive the load to rotate To the middle position of the forward zone, and when the load is in the self-timer zone, controlling the gimbal to drive the load to rotate to the middle position of the self-timer zone.
The handheld gimbal of claim 22 or 23, wherein the gimbal comprises a plurality of shaft components, and the axes of the plurality of shaft components are perpendicular to each other when the load is located in the intermediate position.
The handheld pan / tilt head according to claim 25, wherein the handheld pan / tilt head includes a handheld portion, the pan / tilt head is mounted on the handheld portion and is electrically connected to the handheld portion, and the load is located at the intermediate position At this time, one of the axes of the gimbal coincides with the extending direction of the handheld portion.
The handheld pan / tilt head according to claim 22 or 24, wherein the handheld pan / tilt head includes a handheld portion, the pan / tilt is mounted on the handheld portion and is electrically connected to the handheld portion, and the handheld portion is provided with For the control panel, when the load is located at a middle position of the self-timer area, the load is aligned with the control panel.
The handheld gimbal of claim 27, wherein a middle position of the self-timer zone and a middle position of the forward zone are spaced 180 degrees around a yaw axis of the gimbal.
The handheld pan / tilt head according to claim 21 or 24, wherein the pan / tilt head includes a first axis component, the first axis component is connected to the load, the rotation instruction includes a yaw instruction, and the processing For:

According to the yaw instruction, controlling the first shaft component to drive the load to rotate in the forward zone or the selfie zone.
The handheld pan / tilt head according to claim 29, wherein the pan / tilt head includes a second shaft assembly, the second shaft assembly is connected to the first shaft assembly and the load, and the rotation instruction includes a roll Instructions for the processor to:

According to the roll instruction, controlling the second shaft component to drive the load to rotate in the forward zone or the self-timer zone.
The handheld pan / tilt head according to claim 29 or 30, wherein the pan / tilt head includes a third shaft assembly, the third shaft assembly connects the load and the first shaft assembly, and the rotation instruction includes A pitch instruction, the processor is configured to:

According to the pitch instruction, controlling the third axis component to drive the load to rotate in the forward zone or the self-timer zone.
The handheld pan / tilt head according to claim 19, wherein the handheld pan / tilt head includes a handheld portion, the pan / tilt head is installed on the handheld portion and is electrically connected to the handheld portion, and the handheld portion is provided with a touch screen, The touch screen is used to generate the rotation instruction.
The handheld pan / tilt head according to claim 32, wherein a side of the touch screen is provided with a sliding area, and when the rotation instruction includes a pitching instruction, the touch screen is used for: based on a sliding operation in the sliding area To generate the pitch instruction.
The handheld pan / tilt head according to claim 32, wherein the handheld portion is configured to communicate with a terminal, and the processor is configured to receive the rotation instruction sent from the terminal.
The handheld pan / tilt head according to claim 34, wherein a joint component is mounted on the hand-held portion, and the joint component is used for the terminal to connect to the hand-held portion.
The handheld head according to claim 35, wherein the joint assembly is detachably connected to the handheld portion.
A handheld device, comprising the handheld gimbal according to any one of claims 19-36.
The handheld device according to claim 37, wherein the handheld device comprises a photographing device, and the photographing device is mounted on the pan / tilt.
The handheld device according to claim 38, wherein the handheld device comprises a load connector, the load connector is mounted on the gimbal, and the load connector is used to install the photographing device.